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浙江大学学报(工学版)
浙江大学学报(工学版)  2019, Vol. 53 Issue (10): 1874-1882    DOI: 10.3785/j.issn.1008-973X.2019.10.004
机械与能源工程     
基于有限时间干扰观测器的鲁棒积分跟踪控制
赵倩婷(),姚建勇*(),姚志凯
南京理工大学 机械工程学院，江苏 南京 210094
Finite time disturbance observer based robust integral tracking control
Qian-ting ZHAO(),Jian-yong YAO*(),Zhi-kai YAO
College of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China
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摘要：

针对电液位置伺服系统同时存在的参数不确定和不确定非线性（统称为干扰），导致传统非线性控制精度不高、跟踪性能不好等问题，提出基于有限时间干扰观测器（FTDO）的鲁棒积分跟踪控制策略. 通过将误差符号鲁棒积分（RISE）控制策略与FTDO融合，实现对未观测干扰的抑制. 考虑到实际系统中噪声对跟踪精度的影响，该控制策略结合期望补偿手段，提高跟踪精度. 通过Lyapunov稳定性理论，证明了闭环系统的全局渐进稳定性. 对比实验结果显示，利用该方法能够有效提高电液位置伺服系统在干扰作用下的跟踪性能，在相同的测试工况下，与速度前馈PI控制器相比，跟踪精度提高了25%左右.
关键词： 电液位置伺服系统;  匹配和不匹配干扰;  有限时间干扰观测器（FTDO）;  误差符号鲁棒积分（RISE）控制;  渐进稳定    
Abstract:

A finite time disturbance observer (FTDO) based robust integral tracking control strategy was proposed aiming at the problem that electro-hydraulic position servo system typically exists parameter uncertainties and uncertain nonlinearities (collectively referred as disturbance), which would lead to some control problems such as low accuracy and poor tracking performance for traditional nonlinear control strategies. A robust integral of the sign of the error (RISE) control strategy was integrated with FTDO in order to achieve the suppression of unobserved disturbance. The desired compensation technique was employed in the controller development by considering the influence of noise on the tracking accuracy in the practical system in order to improve the tracking accuracy. The global asymptotic stability of the closed-loop system was verified by the Lyapunov stability theory. Comparative experimental results show that the proposed method can effectively improve the tracking performance of the electro-hydraulic position servo system under the influence of disturbance. The tracking accuracy can be improved about 25% compared with velocity feedforward PI controller in the same test condition.
Key words: electro-hydraulic position servo system    matched and unmatched disturbance    finite time disturbance observer (FTDO)    the robust integral of the sign of the error (RISE) control    asymptotic stability
收稿日期: 2018-08-24 出版日期: 2019-09-30
CLC:  TJ 713  
通讯作者: 姚建勇     E-mail: qting_zhao@163.com;jerryyao.buaa@gmail.com
作者简介: 赵倩婷(1994—)，女，硕士生，从事液压伺服控制的研究. orcid.org/0000-0001-9684-2955. E-mail： qting_zhao@163.com
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赵倩婷
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引用本文:

赵倩婷,姚建勇,姚志凯. 基于有限时间干扰观测器的鲁棒积分跟踪控制[J]. 浙江大学学报(工学版), 2019, 53(10): 1874-1882.

Qian-ting ZHAO,Jian-yong YAO,Zhi-kai YAO. Finite time disturbance observer based robust integral tracking control. Journal of ZheJiang University (Engineering Science), 2019, 53(10): 1874-1882.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2019.10.004    或    http://www.zjujournals.com/eng/CN/Y2019/V53/I10/1874

图 1  电液位置伺服系统原理图
图 2  电液位置伺服系统实验平台
图 3  实验辨识的摩擦曲线图
图 4  0.5 Hz工况下的RF干扰估计曲线图
图 5  0.5 Hz工况下的跟踪误差对比图
图 6  0.5 Hz工况下的控制输入图
图 7  0.5 Hz工况下的RF跟踪曲线图
图 8  0.5 Hz工况下的RF压力曲线图
指标 Me μ σ Lc
RF 0.031 3 0.009 4 0.004 6 0.001 4
FTDO 0.056 9 0.024 4 0.019 1 0.002 8
VFPI 0.041 8 0.018 7 0.011 3 0.002 3
FLC 0.218 3 0.123 4 0.042 8 0.001 2
表 1  0.5 Hz工况下的性能指标表
图 9  0.2 Hz工况下的跟踪误差对比图
指标 Me μ σ Lc
RF 0.017 9 0.001 7 0.001 7 0.000 5
FTDO 0.091 4 0.065 4 0.007 9 0.000 5
VFPI 0.010 9 0.004 6 0.002 5 0.000 9
表 2  0.2 Hz工况下性能指标表
图 10  1 Hz工况下的跟踪误差对比图
指标 Me μ σ Lc
RF 0.060 5 0.038 6 0.013 4 0.004 4
FTDO 0.119 3 0.069 9 0.015 7 0.004 4
VFPI 0.095 6 0.040 9 0.026 6 0.005 4
表 3  1 Hz工况下的性能指标表
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